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<a href="rrt_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef rrt_h</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define rrt_h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;cstddef&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">using namespace </span>std;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="rrt_8h.html#a8bb5664c6d1d0848c059844294c05988">   18</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="rrt_8h.html#a8bb5664c6d1d0848c059844294c05988">infinity</a> = <a class="code" href="rrt_8h.html#a8bb5664c6d1d0848c059844294c05988">std::numeric_limits&lt; float &gt;::infinity</a>();</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">//int rrtStepSize = 13;  //定义生长步长(turtlebot_stage默认地图中能取到的最大值为13)</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="rrt_8h.html#aaac2d108c57a5722b9d816baaed80945">   20</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="rrt_8h.html#aaac2d108c57a5722b9d816baaed80945">rrtStepSize</a>=6;  <span class="comment">//RRT随机树步长(步长必须大于等于mapReduceSize，否则找不到解)</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="rrt_8h.html#a962f9277eb583fb40d04a820752a9191">   21</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="rrt_8h.html#a962f9277eb583fb40d04a820752a9191">randNodeNum</a>=8;  <span class="comment">//一次生成随机结点的个数</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="rrt_8h.html#afb8b6147953aaf9e7089f5f157d5b020">   23</a></span>&#160;<span class="keywordtype">int</span>  <a class="code" href="rrt_8h.html#afb8b6147953aaf9e7089f5f157d5b020">mapReduceSize</a>=5;  <span class="comment">//地图分辨率降低倍数</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="rrt_8h.html#ab205788f3d8cd37826d8ae7bd4675cee">   24</a></span>&#160;<span class="keywordtype">int</span>  <a class="code" href="rrt_8h.html#ab205788f3d8cd37826d8ae7bd4675cee">iterationTime</a>=4000;  <span class="comment">//模拟温度场扩散迭代次数</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="rrt_8h.html#ad255730b84e5f3fabaf7cff0f5b835e2">   25</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="rrt_8h.html#ad255730b84e5f3fabaf7cff0f5b835e2">initialTemperature</a>=20000.0f;  <span class="comment">//温度场初始温度值</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classRRT.html">   27</a></span>&#160;<span class="keyword">class </span><a class="code" href="classRRT.html">RRT</a></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;{</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="classRRT.html">RRT</a>();</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="classRRT.html">RRT</a>(<span class="keywordtype">float</span> input_PosX, <span class="keywordtype">float</span> input_PosY);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structRRT_1_1rrtNode.html">   35</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structRRT_1_1rrtNode.html">rrtNode</a></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    {</div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">   37</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">nodeID</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">   38</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">posX</a>;</div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">   39</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">posY</a>;</div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">   40</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">parentID</a>;</div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">   41</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">depth</a>;<span class="comment">//节点深度，同时也是从根结点到该结点的路径长度</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structRRT_1_1rrtNode.html#af387d6fb3b755400a7678b24a84508d7">   42</a></span>&#160;        vector&lt;int&gt; <a class="code" href="structRRT_1_1rrtNode.html#af387d6fb3b755400a7678b24a84508d7">children</a>;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    };</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    vector&lt;rrtNode&gt; getTree();</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordtype">void</span> setTree(vector&lt;rrtNode&gt; input_rrtTree);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordtype">int</span> getTreeSize();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordtype">void</span> addNewNode(<a class="code" href="structRRT_1_1rrtNode.html">rrtNode</a> node);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">rrtNode</a> removeNode(<span class="keywordtype">int</span> nodeID);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">rrtNode</a> getNode(<span class="keywordtype">int</span> nodeID);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">float</span> getPosX(<span class="keywordtype">int</span> nodeID);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">float</span> getPosY(<span class="keywordtype">int</span> nodeID);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">void</span> setPosX(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">float</span> input_PosX);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">void</span> setPosY(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">float</span> input_PosY);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">rrtNode</a> getParent(<span class="keywordtype">int</span> nodeID);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">void</span> setParentID(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">int</span> parentID);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordtype">void</span> addChildID(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">int</span> childID);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    vector&lt;int&gt; getChildren(<span class="keywordtype">int</span> nodeID);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">int</span> getChildrenSize(<span class="keywordtype">int</span> nodeID);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">int</span> getNearestNodeID(<span class="keywordtype">float</span> X, <span class="keywordtype">float</span> Y);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">int</span> getNearestNodeID(<span class="keywordtype">float</span> X, <span class="keywordtype">float</span> Y, <span class="keywordtype">float</span> goalX, <span class="keywordtype">float</span> goalY,  <span class="keywordtype">int</span> <a class="code" href="rrt_8h.html#aaac2d108c57a5722b9d816baaed80945">rrtStepSize</a>);  <span class="comment">//启发式方法求nearestNodeID</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    vector&lt;int&gt; getRootToEndPath(<span class="keywordtype">int</span> endNodeID);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    vector&lt;int&gt; getStartToEndPath(<span class="keywordtype">int</span> startNodeID,<span class="keywordtype">int</span> endNodeID);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">void</span> clearRRT();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    vector&lt;rrtNode&gt; rrtTree;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">float</span> getEuclideanDistance(<span class="keywordtype">float</span> sourceX, <span class="keywordtype">float</span> sourceY, <span class="keywordtype">float</span> destinationX, <span class="keywordtype">float</span> destinationY);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;};</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classRRT.html#a0a7bb3a3af2d70c656764fbe8f6ae671">   79</a></span>&#160;<a class="code" href="classRRT.html#a0a7bb3a3af2d70c656764fbe8f6ae671">RRT::RRT</a>()</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;{</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> newNode;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">posX</a> = 0;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">posY</a> = 0;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">parentID</a> = 0;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">nodeID</a> = 0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">depth</a>=0;  <span class="comment">//根结点深度为0</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    rrtTree.push_back(newNode);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classRRT.html#a09ca68517ff0379f90b7c549136fc5eb">   95</a></span>&#160;<a class="code" href="classRRT.html#a0a7bb3a3af2d70c656764fbe8f6ae671">RRT::RRT</a>(<span class="keywordtype">float</span> input_PosX, <span class="keywordtype">float</span> input_PosY)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;{</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> newNode;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">posX</a> = input_PosX;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">posY</a> = input_PosY;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">parentID</a> = 0;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">nodeID</a> = 0;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">depth</a>=0;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    rrtTree.push_back(newNode);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">//cout&lt;&lt;&quot;---RRT init successfully. posX=&quot;&lt;&lt;newNode.posX&lt;&lt;&quot;,posY=&quot;&lt;&lt;newNode.posY&lt;&lt;&quot;---&quot;&lt;&lt;endl;</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classRRT.html#a45db97004bbd467c8747f67039b84874">  112</a></span>&#160;vector&lt;RRT::rrtNode&gt; <a class="code" href="classRRT.html#a45db97004bbd467c8747f67039b84874">RRT::getTree</a>()</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">return</span> rrtTree;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classRRT.html#aa87cbb894114472098a8081e05546537">  121</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classRRT.html#aa87cbb894114472098a8081e05546537">RRT::setTree</a>(vector&lt;RRT::rrtNode&gt; input_rrtTree)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;{</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    rrtTree = input_rrtTree;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;}</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classRRT.html#a05dc852e0b777042e290dcc96bf605bb">  130</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classRRT.html#a05dc852e0b777042e290dcc96bf605bb">RRT::getTreeSize</a>()</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">return</span> rrtTree.size();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classRRT.html#a5a0591369964c82b95f08c9f868dbd54">  138</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classRRT.html#a5a0591369964c82b95f08c9f868dbd54">RRT::addNewNode</a>(<a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> node)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;{</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    rrtTree.push_back(node);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classRRT.html#a480c7bcf17aef6c0d406829e16ec24c6">  147</a></span>&#160;<a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> <a class="code" href="classRRT.html#a480c7bcf17aef6c0d406829e16ec24c6">RRT::removeNode</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;{</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> tempNode = rrtTree[id];</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    rrtTree.erase(rrtTree.begin()+id);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">return</span> tempNode;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classRRT.html#afde36442771a9552bb97572098396c2b">  159</a></span>&#160;<a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> <a class="code" href="classRRT.html#afde36442771a9552bb97572098396c2b">RRT::getNode</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;{</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">return</span> rrtTree[id];</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;}</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classRRT.html#af35d650011a6b834fc1b2d75b879817c">  170</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classRRT.html#af35d650011a6b834fc1b2d75b879817c">RRT::getNearestNodeID</a>(<span class="keywordtype">float</span> X, <span class="keywordtype">float</span> Y)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;{</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">int</span> i, returnID=-1;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordtype">float</span> distance = <a class="code" href="rrt_8h.html#a8bb5664c6d1d0848c059844294c05988">infinity</a>, tempDistance;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordflow">for</span>(i=0; i&lt;(this-&gt;getTreeSize()); i++)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        tempDistance = pow(getPosX(i) - X,2) + pow(getPosY(i) - Y,2);<span class="comment">//使用平方距离作为比较值，减少开方运算</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">if</span> (tempDistance &lt; distance)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            distance = tempDistance;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            returnID = i;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">return</span> returnID;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classRRT.html#a54760030f6b61b258b6eec4472ced906">  191</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="classRRT.html#a54760030f6b61b258b6eec4472ced906">RRT::getPosX</a>(<span class="keywordtype">int</span> nodeID)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">return</span> rrtTree[nodeID].posX;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classRRT.html#a499a6d42d47b76c306a80573cba0a555">  199</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="classRRT.html#a499a6d42d47b76c306a80573cba0a555">RRT::getPosY</a>(<span class="keywordtype">int</span> nodeID)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;{</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordflow">return</span> rrtTree[nodeID].posY;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classRRT.html#af97e1958775e9dcaedaddaae6701d176">  207</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classRRT.html#af97e1958775e9dcaedaddaae6701d176">RRT::setPosX</a>(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">float</span> input_PosX)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    rrtTree[nodeID].posX = input_PosX;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classRRT.html#ad83a4a28dadc2f1c396364af356871c7">  215</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classRRT.html#ad83a4a28dadc2f1c396364af356871c7">RRT::setPosY</a>(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">float</span> input_PosY)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;{</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    rrtTree[nodeID].posY = input_PosY;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;}</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classRRT.html#ae781d9ea50b05718fb1e1f26e375f5f8">  223</a></span>&#160;<a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> <a class="code" href="classRRT.html#ae781d9ea50b05718fb1e1f26e375f5f8">RRT::getParent</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;{</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">return</span> rrtTree[rrtTree[id].parentID];</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classRRT.html#a8abb3cac74e30a830c01478ded18dc50">  231</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classRRT.html#a8abb3cac74e30a830c01478ded18dc50">RRT::setParentID</a>(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">int</span> parentID)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;{</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    rrtTree[nodeID].parentID = parentID;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classRRT.html#a2754f5aa8d9c4e725a0c4c2d73576bd9">  239</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classRRT.html#a2754f5aa8d9c4e725a0c4c2d73576bd9">RRT::addChildID</a>(<span class="keywordtype">int</span> nodeID, <span class="keywordtype">int</span> childID)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;{</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    rrtTree[nodeID].children.push_back(childID);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classRRT.html#a5a873a31d26a94d60ff9359dcc0cda3f">  247</a></span>&#160;vector&lt;int&gt; <a class="code" href="classRRT.html#a5a873a31d26a94d60ff9359dcc0cda3f">RRT::getChildren</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;{</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">return</span> rrtTree[id].children;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;}</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classRRT.html#a886561ecaaa6b048cd56054d09e271ef">  255</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classRRT.html#a886561ecaaa6b048cd56054d09e271ef">RRT::getChildrenSize</a>(<span class="keywordtype">int</span> nodeID)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;{</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordflow">return</span> rrtTree[nodeID].children.size();</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;}</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keywordtype">float</span> RRT::getEuclideanDistance(<span class="keywordtype">float</span> sourceX, <span class="keywordtype">float</span> sourceY, <span class="keywordtype">float</span> destinationX, <span class="keywordtype">float</span> destinationY)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;{</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keywordflow">return</span> sqrt(pow(destinationX - sourceX,2) + pow(destinationY - sourceY,2));</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;}</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classRRT.html#a487dc3036806a9fb506a718257d8a846">  273</a></span>&#160;vector&lt;int&gt; <a class="code" href="classRRT.html#a487dc3036806a9fb506a718257d8a846">RRT::getRootToEndPath</a>(<span class="keywordtype">int</span> endNodeID)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;{</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    vector&lt;int&gt; path;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    path.push_back(endNodeID);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keywordflow">while</span>(rrtTree[path.front()].nodeID != 0)</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    {</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        <span class="comment">//std::cout&lt;&lt;rrtTree[path.front()].nodeID&lt;&lt;endl;</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        path.insert(path.begin(),rrtTree[path.front()].parentID);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keywordflow">return</span> path;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;}</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;</div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classRRT.html#ac5480e38a9dad9e0f6e73b23cac804b3">  285</a></span>&#160;vector&lt;int&gt; <a class="code" href="classRRT.html#ac5480e38a9dad9e0f6e73b23cac804b3">RRT::getStartToEndPath</a>(<span class="keywordtype">int</span> startNodeID,<span class="keywordtype">int</span> endNodeID)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;{</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    vector&lt;int&gt; path;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    path.push_back(endNodeID);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordflow">while</span>(rrtTree[path.front()].nodeID != startNodeID)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="comment">//std::cout&lt;&lt;rrtTree[path.front()].nodeID&lt;&lt;endl;</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        path.insert(path.begin(),rrtTree[path.front()].parentID);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordflow">return</span> path;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;}</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classRRT.html#affd1f4f4e35541cdca748bac5c1bbd34">  297</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classRRT.html#affd1f4f4e35541cdca748bac5c1bbd34">RRT::clearRRT</a>()</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;{</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    rrtTree.clear();</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="comment">//cout&lt;&lt;&quot;clear the rrtTree successfully.&quot;&lt;&lt;endl;</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="classRRT_html_ad83a4a28dadc2f1c396364af356871c7"><div class="ttname"><a href="classRRT.html#ad83a4a28dadc2f1c396364af356871c7">RRT::setPosY</a></div><div class="ttdeci">void setPosY(int nodeID, float input_PosY)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00215">rrt.h:215</a></div></div>
<div class="ttc" id="rrt_8h_html_afb8b6147953aaf9e7089f5f157d5b020"><div class="ttname"><a href="rrt_8h.html#afb8b6147953aaf9e7089f5f157d5b020">mapReduceSize</a></div><div class="ttdeci">int mapReduceSize</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00023">rrt.h:23</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a9f5b9bfca61e25fe7f80d361ed7996ff"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">RRT::rrtNode::parentID</a></div><div class="ttdeci">int parentID</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00040">rrt.h:40</a></div></div>
<div class="ttc" id="classRRT_html_afde36442771a9552bb97572098396c2b"><div class="ttname"><a href="classRRT.html#afde36442771a9552bb97572098396c2b">RRT::getNode</a></div><div class="ttdeci">rrtNode getNode(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00159">rrt.h:159</a></div></div>
<div class="ttc" id="classRRT_html_a5a873a31d26a94d60ff9359dcc0cda3f"><div class="ttname"><a href="classRRT.html#a5a873a31d26a94d60ff9359dcc0cda3f">RRT::getChildren</a></div><div class="ttdeci">vector&lt; int &gt; getChildren(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00247">rrt.h:247</a></div></div>
<div class="ttc" id="classRRT_html_a8abb3cac74e30a830c01478ded18dc50"><div class="ttname"><a href="classRRT.html#a8abb3cac74e30a830c01478ded18dc50">RRT::setParentID</a></div><div class="ttdeci">void setParentID(int nodeID, int parentID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00231">rrt.h:231</a></div></div>
<div class="ttc" id="classRRT_html_ac5480e38a9dad9e0f6e73b23cac804b3"><div class="ttname"><a href="classRRT.html#ac5480e38a9dad9e0f6e73b23cac804b3">RRT::getStartToEndPath</a></div><div class="ttdeci">vector&lt; int &gt; getStartToEndPath(int startNodeID, int endNodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00285">rrt.h:285</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_ab20e6f5be075c8feed605c935924df30"><div class="ttname"><a href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">RRT::rrtNode::depth</a></div><div class="ttdeci">int depth</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00041">rrt.h:41</a></div></div>
<div class="ttc" id="classRRT_html_a2754f5aa8d9c4e725a0c4c2d73576bd9"><div class="ttname"><a href="classRRT.html#a2754f5aa8d9c4e725a0c4c2d73576bd9">RRT::addChildID</a></div><div class="ttdeci">void addChildID(int nodeID, int childID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00239">rrt.h:239</a></div></div>
<div class="ttc" id="classRRT_html_a5a0591369964c82b95f08c9f868dbd54"><div class="ttname"><a href="classRRT.html#a5a0591369964c82b95f08c9f868dbd54">RRT::addNewNode</a></div><div class="ttdeci">void addNewNode(rrtNode node)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00138">rrt.h:138</a></div></div>
<div class="ttc" id="classRRT_html_a05dc852e0b777042e290dcc96bf605bb"><div class="ttname"><a href="classRRT.html#a05dc852e0b777042e290dcc96bf605bb">RRT::getTreeSize</a></div><div class="ttdeci">int getTreeSize()</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00130">rrt.h:130</a></div></div>
<div class="ttc" id="rrt_8h_html_ab205788f3d8cd37826d8ae7bd4675cee"><div class="ttname"><a href="rrt_8h.html#ab205788f3d8cd37826d8ae7bd4675cee">iterationTime</a></div><div class="ttdeci">int iterationTime</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00024">rrt.h:24</a></div></div>
<div class="ttc" id="classRRT_html_af35d650011a6b834fc1b2d75b879817c"><div class="ttname"><a href="classRRT.html#af35d650011a6b834fc1b2d75b879817c">RRT::getNearestNodeID</a></div><div class="ttdeci">int getNearestNodeID(float X, float Y)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00170">rrt.h:170</a></div></div>
<div class="ttc" id="classRRT_html_affd1f4f4e35541cdca748bac5c1bbd34"><div class="ttname"><a href="classRRT.html#affd1f4f4e35541cdca748bac5c1bbd34">RRT::clearRRT</a></div><div class="ttdeci">void clearRRT()</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00297">rrt.h:297</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_af387d6fb3b755400a7678b24a84508d7"><div class="ttname"><a href="structRRT_1_1rrtNode.html#af387d6fb3b755400a7678b24a84508d7">RRT::rrtNode::children</a></div><div class="ttdeci">vector&lt; int &gt; children</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00042">rrt.h:42</a></div></div>
<div class="ttc" id="classRRT_html_a0a7bb3a3af2d70c656764fbe8f6ae671"><div class="ttname"><a href="classRRT.html#a0a7bb3a3af2d70c656764fbe8f6ae671">RRT::RRT</a></div><div class="ttdeci">RRT()</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00079">rrt.h:79</a></div></div>
<div class="ttc" id="classRRT_html_a45db97004bbd467c8747f67039b84874"><div class="ttname"><a href="classRRT.html#a45db97004bbd467c8747f67039b84874">RRT::getTree</a></div><div class="ttdeci">vector&lt; rrtNode &gt; getTree()</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00112">rrt.h:112</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_aa8adf5b50e1a2a466771ae3af56b1658"><div class="ttname"><a href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">RRT::rrtNode::nodeID</a></div><div class="ttdeci">int nodeID</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00037">rrt.h:37</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a219cf78a0f5689bc84744df52c37e84d"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">RRT::rrtNode::posY</a></div><div class="ttdeci">float posY</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00039">rrt.h:39</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html"><div class="ttname"><a href="structRRT_1_1rrtNode.html">RRT::rrtNode</a></div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00035">rrt.h:35</a></div></div>
<div class="ttc" id="rrt_8h_html_a962f9277eb583fb40d04a820752a9191"><div class="ttname"><a href="rrt_8h.html#a962f9277eb583fb40d04a820752a9191">randNodeNum</a></div><div class="ttdeci">int randNodeNum</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00021">rrt.h:21</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a4c2096fa1d719cf2aa49cf21916a5a4b"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">RRT::rrtNode::posX</a></div><div class="ttdeci">float posX</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00038">rrt.h:38</a></div></div>
<div class="ttc" id="classRRT_html_a54760030f6b61b258b6eec4472ced906"><div class="ttname"><a href="classRRT.html#a54760030f6b61b258b6eec4472ced906">RRT::getPosX</a></div><div class="ttdeci">float getPosX(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00191">rrt.h:191</a></div></div>
<div class="ttc" id="rrt_8h_html_ad255730b84e5f3fabaf7cff0f5b835e2"><div class="ttname"><a href="rrt_8h.html#ad255730b84e5f3fabaf7cff0f5b835e2">initialTemperature</a></div><div class="ttdeci">float initialTemperature</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00025">rrt.h:25</a></div></div>
<div class="ttc" id="classRRT_html_a487dc3036806a9fb506a718257d8a846"><div class="ttname"><a href="classRRT.html#a487dc3036806a9fb506a718257d8a846">RRT::getRootToEndPath</a></div><div class="ttdeci">vector&lt; int &gt; getRootToEndPath(int endNodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00273">rrt.h:273</a></div></div>
<div class="ttc" id="classRRT_html_ae781d9ea50b05718fb1e1f26e375f5f8"><div class="ttname"><a href="classRRT.html#ae781d9ea50b05718fb1e1f26e375f5f8">RRT::getParent</a></div><div class="ttdeci">rrtNode getParent(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00223">rrt.h:223</a></div></div>
<div class="ttc" id="classRRT_html_a480c7bcf17aef6c0d406829e16ec24c6"><div class="ttname"><a href="classRRT.html#a480c7bcf17aef6c0d406829e16ec24c6">RRT::removeNode</a></div><div class="ttdeci">rrtNode removeNode(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00147">rrt.h:147</a></div></div>
<div class="ttc" id="classRRT_html_a499a6d42d47b76c306a80573cba0a555"><div class="ttname"><a href="classRRT.html#a499a6d42d47b76c306a80573cba0a555">RRT::getPosY</a></div><div class="ttdeci">float getPosY(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00199">rrt.h:199</a></div></div>
<div class="ttc" id="rrt_8h_html_aaac2d108c57a5722b9d816baaed80945"><div class="ttname"><a href="rrt_8h.html#aaac2d108c57a5722b9d816baaed80945">rrtStepSize</a></div><div class="ttdeci">int rrtStepSize</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00020">rrt.h:20</a></div></div>
<div class="ttc" id="classRRT_html_af97e1958775e9dcaedaddaae6701d176"><div class="ttname"><a href="classRRT.html#af97e1958775e9dcaedaddaae6701d176">RRT::setPosX</a></div><div class="ttdeci">void setPosX(int nodeID, float input_PosX)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00207">rrt.h:207</a></div></div>
<div class="ttc" id="classRRT_html"><div class="ttname"><a href="classRRT.html">RRT</a></div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00027">rrt.h:27</a></div></div>
<div class="ttc" id="rrt_8h_html_a8bb5664c6d1d0848c059844294c05988"><div class="ttname"><a href="rrt_8h.html#a8bb5664c6d1d0848c059844294c05988">infinity</a></div><div class="ttdeci">float infinity</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00018">rrt.h:18</a></div></div>
<div class="ttc" id="classRRT_html_aa87cbb894114472098a8081e05546537"><div class="ttname"><a href="classRRT.html#aa87cbb894114472098a8081e05546537">RRT::setTree</a></div><div class="ttdeci">void setTree(vector&lt; rrtNode &gt; input_rrtTree)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00121">rrt.h:121</a></div></div>
<div class="ttc" id="classRRT_html_a886561ecaaa6b048cd56054d09e271ef"><div class="ttname"><a href="classRRT.html#a886561ecaaa6b048cd56054d09e271ef">RRT::getChildrenSize</a></div><div class="ttdeci">int getChildrenSize(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00255">rrt.h:255</a></div></div>
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